diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
index 4dd040840..df8646e6c 100644
--- a/control_launch/launch/control.launch.py
+++ b/control_launch/launch/control.launch.py
@@ -61,7 +61,7 @@ def launch_setup(context, *args, **kwargs):
namespace="trajectory_follower",
remappings=[
("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
- ("~/input/current_velocity", "/localization/twist"),
+ ("~/input/current_velocity", "/localization/kinematic_state"),
("~/input/current_steering", "/vehicle/status/steering"),
("~/output/control_raw", "lateral/control_cmd"),
("~/output/predicted_trajectory", "predicted_trajectory"),
@@ -79,7 +79,7 @@ def launch_setup(context, *args, **kwargs):
namespace="trajectory_follower",
remappings=[
("input/reference_trajectory", "/planning/scenario_planning/trajectory"),
- ("input/current_velocity", "/localization/twist"),
+ ("input/current_velocity", "/localization/kinematic_state"),
("output/control_raw", "lateral/control_cmd"),
],
parameters=[
@@ -95,7 +95,7 @@ def launch_setup(context, *args, **kwargs):
name="velocity_controller",
namespace="trajectory_follower",
remappings=[
- ("~/current_velocity", "/localization/twist"),
+ ("~/current_velocity", "/localization/kinematic_state"),
("~/control_cmd", "longitudinal/control_cmd"),
("~/current_trajectory", "/planning/scenario_planning/trajectory"),
],
@@ -132,7 +132,7 @@ def launch_setup(context, *args, **kwargs):
name="lane_departure_checker_node",
namespace="trajectory_follower",
remappings=[
- ("~/input/twist", "/localization/twist"),
+ ("~/input/odometry", "/localization/kinematic_state"),
("~/input/lanelet_map_bin", "/map/vector_map"),
("~/input/route", "/planning/mission_planning/route"),
("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
index da2d221ad..db7650b64 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -129,7 +129,7 @@ def generate_launch_description():
("~/input/route", LaunchConfiguration("input_route_topic_name")),
("~/input/vector_map", LaunchConfiguration("map_topic_name")),
("~/input/perception", "/perception/object_recognition/objects"),
- ("~/input/velocity", "/localization/twist"),
+ ("~/input/odometry", "/localization/kinematic_state"),
(
"~/input/external_approval",
"/planning/scenario_planning/lane_driving/behavior_planning/"
@@ -250,7 +250,7 @@ def generate_launch_description():
remappings=[
("~/input/path_with_lane_id", "path_with_lane_id"),
("~/input/vector_map", "/map/vector_map"),
- ("~/input/vehicle_velocity", "/localization/twist"),
+ ("~/input/odometry", "/localization/kinematic_state"),
("~/input/dynamic_objects", "/perception/object_recognition/objects"),
("~/input/no_ground_pointcloud", "/sensing/lidar/no_ground/pointcloud"),
(
diff --git a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index d0c04d132..4ec172ea3 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -9,7 +9,7 @@
-
+
diff --git a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 79a0c31a9..4c06a7b8c 100644
--- a/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -92,7 +92,7 @@ def generate_launch_description():
("~/output/trajectory", "surround_obstacle_checker/trajectory"),
("~/input/pointcloud", "/sensing/lidar/no_ground/pointcloud"),
("~/input/objects", "/perception/object_recognition/objects"),
- ("~/input/twist", "/localization/twist"),
+ ("~/input/odometry", "/localization/kinematic_state"),
("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
],
parameters=[
@@ -156,7 +156,7 @@ def generate_launch_description():
("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
("~/input/pointcloud", "/sensing/lidar/no_ground/pointcloud"),
("~/input/objects", "/perception/object_recognition/objects"),
- ("~/input/twist", "/localization/twist"),
+ ("~/input/odometry", "/localization/kinematic_state"),
("~/input/trajectory", "surround_obstacle_checker/trajectory"),
],
parameters=[
diff --git a/planning_launch/launch/scenario_planning/parking.launch.py b/planning_launch/launch/scenario_planning/parking.launch.py
index 45e4331d0..fef777551 100644
--- a/planning_launch/launch/scenario_planning/parking.launch.py
+++ b/planning_launch/launch/scenario_planning/parking.launch.py
@@ -92,7 +92,7 @@ def generate_launch_description():
("~/input/route", "/planning/mission_planning/route"),
("~/input/occupancy_grid", "costmap_generator/occupancy_grid"),
("~/input/scenario", "/planning/scenario_planning/scenario"),
- ("~/input/twist", "/localization/twist"),
+ ("~/input/odometry", "/localization/kinematic_state"),
("~/output/trajectory", "/planning/scenario_planning/parking/trajectory"),
("is_completed", "/planning/scenario_planning/parking/is_completed"),
],
diff --git a/planning_launch/launch/scenario_planning/parking.launch.xml b/planning_launch/launch/scenario_planning/parking.launch.xml
index f8254c8fa..2465dac51 100644
--- a/planning_launch/launch/scenario_planning/parking.launch.xml
+++ b/planning_launch/launch/scenario_planning/parking.launch.xml
@@ -15,7 +15,7 @@
-
+
diff --git a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
index 808cff011..82ec229d0 100644
--- a/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
+++ b/planning_launch/launch/scenario_planning/scenario_planning.launch.xml
@@ -8,7 +8,7 @@
-
+